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<div class="title">rt_spi.h</div>  </div>
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<a href="../../d0/dae/rt__spi_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef _rt_spi</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define _rt_spi</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;fcntl.h&gt;</span>      <span class="comment">//Needed for SPI port</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;sys/ioctl.h&gt;</span>  <span class="comment">//Needed for SPI port</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// incredibly obscure bug in SPI_IOC_MESSAGE macro is fixed by this</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#ifdef __cplusplus </span><span class="comment">/* If this is a C++ compiler, use C linkage */</span><span class="preprocessor"></span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="keyword">extern</span> <span class="stringliteral">&quot;C&quot;</span> {</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;linux/spi/spidev.h&gt;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#ifdef __cplusplus </span><span class="comment">/* If this is a C++ compiler, use C linkage */</span><span class="preprocessor"></span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;}</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &lt;stdint.h&gt;</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &lt;stdio.h&gt;</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#include &lt;stdlib.h&gt;</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#include &lt;string.h&gt;</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#include &lt;unistd.h&gt;</span>  <span class="comment">//Needed for SPI port</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#include &lt;spi_command_t.hpp&gt;</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">#include &lt;spi_data_t.hpp&gt;</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#include &lt;spi_torque_t.hpp&gt;</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="../../d0/dae/rt__spi_8h.html#a16e1750a8c350d6bdf5ee34ac1f2b725">   27</a></span>&#160;<span class="preprocessor">#define K_EXPECTED_COMMAND_SIZE 256</span></div><div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="../../d0/dae/rt__spi_8h.html#adc2caca9802fd1471258f8fd6a06a727">   28</a></span>&#160;<span class="preprocessor">#define K_WORDS_PER_MESSAGE 66</span></div><div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="../../d0/dae/rt__spi_8h.html#a63377a4b9d48b89d4d14253399f9d3e5">   29</a></span>&#160;<span class="preprocessor">#define K_EXPECTED_DATA_SIZE 116</span></div><div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="../../d0/dae/rt__spi_8h.html#ad525a9d72e9a7090f793511248bba3c9">   30</a></span>&#160;<span class="preprocessor">#define K_KNEE_OFFSET_POS 4.35f</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="../../d0/dae/rt__spi_8h.html#ae8b243fdac3715a3da7c98b9a380eaa5">   32</a></span>&#160;<span class="preprocessor">#define BYTE_TO_BINARY_PATTERN &quot;%c%c%c%c%c%c%c%c&quot;</span></div><div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="../../d0/dae/rt__spi_8h.html#aa28480bfa03957b4f284c13e800ca8b0">   33</a></span>&#160;<span class="preprocessor">#define BYTE_TO_BINARY(byte)                                \</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">  (byte &amp; 0x80 ? &#39;1&#39; : &#39;0&#39;), (byte &amp; 0x40 ? &#39;1&#39; : &#39;0&#39;),     \</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">      (byte &amp; 0x20 ? &#39;1&#39; : &#39;0&#39;), (byte &amp; 0x10 ? &#39;1&#39; : &#39;0&#39;), \</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">      (byte &amp; 0x08 ? &#39;1&#39; : &#39;0&#39;), (byte &amp; 0x04 ? &#39;1&#39; : &#39;0&#39;), \</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">      (byte &amp; 0x02 ? &#39;1&#39; : &#39;0&#39;), (byte &amp; 0x01 ? &#39;1&#39; : &#39;0&#39;)</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d0/dae/rt__spi_8h.html#a8eb9780a3438ec02c70314744f91f3c7">init_spi</a>();</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d0/dae/rt__spi_8h.html#a203bbcc4db5a480dbdf813356e836415">spi_send_receive</a>(spi_command_t* command, spi_data_t* data);</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d0/dae/rt__spi_8h.html#a684e8d785e723147c81388a694a72454">spi_driver_run</a>();</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;spi_data_t* <a class="code" href="../../d0/dae/rt__spi_8h.html#a86aa57487cebed6685ec3a22729662e6">get_spi_data</a>();</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;spi_command_t* <a class="code" href="../../d0/dae/rt__spi_8h.html#a3e61e97e0ec55d0c36c2883793c12c08">get_spi_command</a>();</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="../../d1/d9e/structspine__cmd__t.html">   47</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct </span>{</div><div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="../../d1/d9e/structspine__cmd__t.html#a086b839ba0338f29486c0d717edf4df6">   48</a></span>&#160;  <span class="keywordtype">float</span> q_des_abad[2];</div><div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="../../d1/d9e/structspine__cmd__t.html#a95fca9a480ef36ddb0b88ae43d02e4be">   49</a></span>&#160;  <span class="keywordtype">float</span> q_des_hip[2];</div><div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="../../d1/d9e/structspine__cmd__t.html#a9fb21a7273775de6a14c708977b7d1b1">   50</a></span>&#160;  <span class="keywordtype">float</span> q_des_knee[2];</div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="../../d1/d9e/structspine__cmd__t.html#a44e5ebbd8f872bbd47c58a1ccef8eb67">   51</a></span>&#160;  <span class="keywordtype">float</span> qd_des_abad[2];</div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="../../d1/d9e/structspine__cmd__t.html#a95c23f774752b91bb39d0076922f5843">   52</a></span>&#160;  <span class="keywordtype">float</span> qd_des_hip[2];</div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="../../d1/d9e/structspine__cmd__t.html#ab1d33b36ac21a9d0095d64631a9229bb">   53</a></span>&#160;  <span class="keywordtype">float</span> qd_des_knee[2];</div><div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="../../d1/d9e/structspine__cmd__t.html#a2d0b9ab5c3fa0d59d1f47dd53fdc173c">   54</a></span>&#160;  <span class="keywordtype">float</span> kp_abad[2];</div><div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="../../d1/d9e/structspine__cmd__t.html#a1751d6425518ce290183c0072a27756c">   55</a></span>&#160;  <span class="keywordtype">float</span> kp_hip[2];</div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="../../d1/d9e/structspine__cmd__t.html#a8e4d1c854c780a8856dfc12b0c01a2c9">   56</a></span>&#160;  <span class="keywordtype">float</span> kp_knee[2];</div><div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="../../d1/d9e/structspine__cmd__t.html#a8f59a4581aa55455be4ca030fcb6c97a">   57</a></span>&#160;  <span class="keywordtype">float</span> kd_abad[2];</div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="../../d1/d9e/structspine__cmd__t.html#a606ccb2cdfe9ba87f061c5a4100afeea">   58</a></span>&#160;  <span class="keywordtype">float</span> kd_hip[2];</div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="../../d1/d9e/structspine__cmd__t.html#a9b8cf071d8600afcfef0cfe43a9e45e6">   59</a></span>&#160;  <span class="keywordtype">float</span> kd_knee[2];</div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="../../d1/d9e/structspine__cmd__t.html#a34f3a53ebfffc1805fdb83d18c1337f3">   60</a></span>&#160;  <span class="keywordtype">float</span> tau_abad_ff[2];</div><div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="../../d1/d9e/structspine__cmd__t.html#a6584e116c071b6da071e05bd01320505">   61</a></span>&#160;  <span class="keywordtype">float</span> tau_hip_ff[2];</div><div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="../../d1/d9e/structspine__cmd__t.html#a3220a6d90b35478c7b8313fa464599f2">   62</a></span>&#160;  <span class="keywordtype">float</span> tau_knee_ff[2];</div><div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="../../d1/d9e/structspine__cmd__t.html#acedd54bdc9e7704b15709927bf536dae">   63</a></span>&#160;  int32_t flags[2];</div><div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="../../d1/d9e/structspine__cmd__t.html#a429b53cc60d1d79cf6836ee79cee7453">   64</a></span>&#160;  int32_t <a class="code" href="../../d1/d9e/structspine__cmd__t.html#a429b53cc60d1d79cf6836ee79cee7453">checksum</a>;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;} <a class="code" href="../../d1/d9e/structspine__cmd__t.html">spine_cmd_t</a>;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="../../de/de1/structspine__data__t.html">   68</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct </span>{</div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="../../de/de1/structspine__data__t.html#a776dae7baac8bf802a361d52568fd3b8">   69</a></span>&#160;  <span class="keywordtype">float</span> q_abad[2];</div><div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="../../de/de1/structspine__data__t.html#a14e92508cc8ff98cb852658fc139c202">   70</a></span>&#160;  <span class="keywordtype">float</span> q_hip[2];</div><div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="../../de/de1/structspine__data__t.html#ac79270d2aa95745b494c985842808074">   71</a></span>&#160;  <span class="keywordtype">float</span> q_knee[2];</div><div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="../../de/de1/structspine__data__t.html#a196030956f5918aaf80e4bfa17c6267d">   72</a></span>&#160;  <span class="keywordtype">float</span> qd_abad[2];</div><div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="../../de/de1/structspine__data__t.html#a81d4c922d234e0097a7e53090272f718">   73</a></span>&#160;  <span class="keywordtype">float</span> qd_hip[2];</div><div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="../../de/de1/structspine__data__t.html#a453c3bb43111b6722b664f295da46318">   74</a></span>&#160;  <span class="keywordtype">float</span> qd_knee[2];</div><div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="../../de/de1/structspine__data__t.html#a94e394f0291c6f52b35899ab54b90e91">   75</a></span>&#160;  int32_t flags[2];</div><div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="../../de/de1/structspine__data__t.html#ae29473391ce68697b43e91176742ade0">   76</a></span>&#160;  int32_t <a class="code" href="../../de/de1/structspine__data__t.html#ae29473391ce68697b43e91176742ade0">checksum</a>;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;} <a class="code" href="../../de/de1/structspine__data__t.html">spine_data_t</a>;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="structspine__data__t_html"><div class="ttname"><a href="../../de/de1/structspine__data__t.html">spine_data_t</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d0/dae/rt__spi_8h_source.html#l00068">rt_spi.h:68</a></div></div>
<div class="ttc" id="structspine__cmd__t_html_a429b53cc60d1d79cf6836ee79cee7453"><div class="ttname"><a href="../../d1/d9e/structspine__cmd__t.html#a429b53cc60d1d79cf6836ee79cee7453">spine_cmd_t::checksum</a></div><div class="ttdeci">int32_t checksum</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/dae/rt__spi_8h_source.html#l00064">rt_spi.h:64</a></div></div>
<div class="ttc" id="structspine__cmd__t_html"><div class="ttname"><a href="../../d1/d9e/structspine__cmd__t.html">spine_cmd_t</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d0/dae/rt__spi_8h_source.html#l00047">rt_spi.h:47</a></div></div>
<div class="ttc" id="rt__spi_8h_html_a684e8d785e723147c81388a694a72454"><div class="ttname"><a href="../../d0/dae/rt__spi_8h.html#a684e8d785e723147c81388a694a72454">spi_driver_run</a></div><div class="ttdeci">void spi_driver_run()</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/d62/rt__spi_8cpp_source.html#l00319">rt_spi.cpp:319</a></div></div>
<div class="ttc" id="rt__spi_8h_html_a8eb9780a3438ec02c70314744f91f3c7"><div class="ttname"><a href="../../d0/dae/rt__spi_8h.html#a8eb9780a3438ec02c70314744f91f3c7">init_spi</a></div><div class="ttdeci">void init_spi()</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/d62/rt__spi_8cpp_source.html#l00110">rt_spi.cpp:110</a></div></div>
<div class="ttc" id="structspine__data__t_html_ae29473391ce68697b43e91176742ade0"><div class="ttname"><a href="../../de/de1/structspine__data__t.html#ae29473391ce68697b43e91176742ade0">spine_data_t::checksum</a></div><div class="ttdeci">int32_t checksum</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/dae/rt__spi_8h_source.html#l00076">rt_spi.h:76</a></div></div>
<div class="ttc" id="rt__spi_8h_html_a86aa57487cebed6685ec3a22729662e6"><div class="ttname"><a href="../../d0/dae/rt__spi_8h.html#a86aa57487cebed6685ec3a22729662e6">get_spi_data</a></div><div class="ttdeci">spi_data_t * get_spi_data()</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/d62/rt__spi_8cpp_source.html#l00337">rt_spi.cpp:337</a></div></div>
<div class="ttc" id="rt__spi_8h_html_a203bbcc4db5a480dbdf813356e836415"><div class="ttname"><a href="../../d0/dae/rt__spi_8h.html#a203bbcc4db5a480dbdf813356e836415">spi_send_receive</a></div><div class="ttdeci">void spi_send_receive(spi_command_t *command, spi_data_t *data)</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/d62/rt__spi_8cpp_source.html#l00260">rt_spi.cpp:260</a></div></div>
<div class="ttc" id="rt__spi_8h_html_a3e61e97e0ec55d0c36c2883793c12c08"><div class="ttname"><a href="../../d0/dae/rt__spi_8h.html#a3e61e97e0ec55d0c36c2883793c12c08">get_spi_command</a></div><div class="ttdeci">spi_command_t * get_spi_command()</div><div class="ttdef"><b>Definition:</b> <a href="../../d1/d62/rt__spi_8cpp_source.html#l00332">rt_spi.cpp:332</a></div></div>
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